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f (x )
f (x )
f (x)
f ( x, y )
x y
This is the gradient magnitude. It’s isotropic.
Classification of Points
Let points that satisfy f ( x, y) T be edge points.
PROBLEM:
T
f
Non-zero edge width
f ( x, y ) f ( x, y )
cos sin T
x y
finds edges perpendicular to the direction
Directional Examples
Convolving 1 1 with
[ 5 5 5 8 20 25 25 22 12 4 3 3 ]
1 1
[ 0]
Simple Filtering Example in 1-D
Convolving 1 1 with
[ 5 5 5 8 20 25 25 22 12 4 3 3 ]
1 1
[ 0 0]
Simple Filtering Example in 1-D
Convolving 1 1 with
[ 5 5 5 8 20 25 25 22 12 4 3 3 ]
1 1
[ 0 0 3]
Simple Filtering Example in 1-D
Convolving 1 1 with
[ 5 5 5 8 20 25 25 22 12 4 3 3 ]
1 1
produces:
[ 0 0 3 12 5 0 -3 -13 -8 -1 0 ]
Gradient Estimation
1. Create orthogonal pair of filters,
h1 (n1 , n2 ) h2 (n1 , n2 )
2. Convolve image with each filter:
f1 (n1 , n2 ) f (n1 , n2 ) h1 (n1 , n2 )
f 2 (n1 , n2 ) f (n1 , n2 ) h2 (n1 , n2 )
3. Estimate the gradient magnitude:
ˆ f (n , n )
f12 (n1 , n2 ) f 22 (n1 , n2 )
1 2
Roberts Operator
0 1 1 0
h1 (n1 , n2 ) h2 (n1 , n2 )
1 0 0 1
Key concept:
Build filters to respond to edges and suppress noise.
Prewitt Operator
1 0 1 1 1 1
1 0 1 0 0 0
1 0 1 1 1 1
1 0 1 1 2 1
2 0 2 0 0 0
1 0 1 1 2 1
Original Roberts
Roberts Prewitt
Prewitt Sobel
T=5 T = 10
Roberts
T = 20 T = 40
Continuous Laplacian
f ( x, y ) f ( x, y )
2 2
f ( x, y ) f ( x, y )
2
x 2
y 2
This is a scalar. It’s also isotropic.
No thinning is necessary.
Tends to produce closed edge contours.
Discrete Laplacian Operators
0 1 0 1 1 1 1 2 1
1 4 1 1 8 1 2 4 2
0 1 0 1 1 1 1 2 1
ˆ
f (n1 , n2 ) f (n1 , n2 ) h(n1 , n2 )
2
• Origin at center
• Only one convolution needed, not two
• Can build larger kernels by sampling Laplacian of
Gaussian
Laplacian of Gaussian
(Marr-Hildreth Operator)
x2 y2
Gaussian: g ( x, y) exp
2
2
Let:
x y 2
2 2
2
x y
2 2
h( x, y) g ( x, y)
2
exp
4
2
2
Then: 2 f ( x, y) 2 g ( x, y) f ( x, y)
h ( x , y ) f ( x, y )
LoG Filter Impulse Response
g ( x, y)
2
LoG Filter Frequency Response
{ g ( x, y)}
2
Laplacian of Gaussian Examples
= 1.5
= 1.0 = 2.0
LoG Properties
• One filter, one convolution needed
• Zero-crossings are very sensitive to noise (2nd deriv.)
• Bandpass filtering reduces noise effects
• Edge map can be produced for a given scale
• Scale-space or pyramid decomposition possible
• Found in biological vision!!